Dynamics of Structures 2018-2019

4. MDOF systems

Dynamics of structures

4.Multiple degree of freedom systems

Arnaud Deraemaeker ([email protected])

Multiple degree of freedom systems in real life

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4. MDOF systems

Case study 2 : Vibrations of high-rise buildings

• Source of excitation
• Effects
• Design methodology
• Remedial measures

Sources of excitation

-Wind
-Earthquake
Frequency
content of the
signal

Ground motion (acceleration)

Resonance ?

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Reduction of a system to a mdof system

Equivalent mass and stiffness

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Reduction to a sdof system

-Equivalent stiffness?
-Equivalent mass ?
-Validity (frequency band) ?

Equivalent stiffness

General principle :

F in the direction of excitation

(and motion) of the mass

Computation :- simplified model

- numerical approximation (finite elements)
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Equivalent stiffness: bar in traction

Direction of
excitation

Attachment
point
Constitutive equation: Stress is constant

Static equilibrium

Displacement of the attachment

point (in the direction of excitation):
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Equivalent stiffness : cantilever beam in bending

Direction of
excitation

Attachment
point
From tables

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Equivalent stiffness : of beams in bending

Equivalent stiffness of beams in bending can be computed using formulas from

resistance of materials or using tables :

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Equivalent stiffness: portal frame

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Equivalent stiffness: portal frame

From tables (internet)

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Equivalent mass : energy method

Kinetic energy of a mass-spring system

Example 1 :

Kinetic energy of the spring

Additional mass

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Equivalent mass : energy method

Kinetic energy of a mass-spring system

Example 2 :

Kinetic energy of the bar

Additional mass ma

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Frequency limits for one dof systems

m=100 kg, E =210 GPa,

Continuous model
=7800 kg/m3, L=1m;
A = 0.0004 m2

SDOF model 1 SDOF model 2

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Frequency limits of SDOF systems for real continuous systems

k =EA/L = 8.4 107 N/m fn=145.87 Hz (mass M)

M = 100 kg

ma = AL/3 = 1.04 kg <<M fn=145.11 Hz (mass M+ma)

SDOF
hypothesis
not valid for
frequencies >
2000 Hz
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Frequency limits for one dof systems

m=100 kg, E =210 GPa,

Continuous model
=78000 kg/m3, L=1m;
A = 0.0004 m2

SDOF model 1 SDOF model 2

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Frequency limits of SDOF systems for real continuous systems

k =EA/L = 8.4 107 N/m fn=145.87 Hz (mass M)

M = 100 kg

ma = AL/3 = 10.4 kg <M fn=138.83 Hz (mass M+ma)

ma should be taken into account

SDOF
hypothesis
not valid for
frequencies >
500 Hz
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Response of a mdof system

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Conservative system : equations of motion

Mass matrix Stiffness matrix

Equations of motion: general solution

Admits a non trivial solution if

r2 is negative (K and M are positive definite matrices)

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General solution: eigen frequencies and modeshapes

Generalized eigenvalue problem (-2)

If the system has n degrees of freedom, there exist n values of -2 for
which this equation is satisfied. These are the n eigenvalues which
correspond to n eigenfrequencies

n eigen vectors are associated to these eigenfrequencies. They

correspond to the n mode shapes of the structure

The general solution is written in the form:

Orthogonality of the modeshapes

Property :

Proof :

Premultiply (1) by ,(2) by and substract taking into account

symmetry of K ( ) and M ( )

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Orthogonality of the modeshapes

Define

Matrix notation

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Example : two degrees of freedom system

Second order equation in 2

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Eigen frequencies and modeshapes

Eigen frequencies and modeshapes

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Eigen frequencies and modeshapes

Mode 1 Mode 2

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General solution

Assume the following initial conditions

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Particular solution : projection of the solution in the modal basis

Projection on the modal basis

N independent equations of the type

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Particular solution : projection of the solution in the modal basis

The solution can be obtained by solving a set of n independent equations of the type

This equation corresponds to the equation of motion of a sdof system with

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Particular solution : harmonic excitation

Harmonic excitation: modal basis solution

or

sdof oscillator solution

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Harmonic excitation: modal basis solution

The solution is the sum of sdof oscillators :

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Example : two dofs system

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Equations of motion : modal basis solution

(m=1kg, k = 1N/m)

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Equations of motion : modal basis solution

(m=1kg, k = 1N/m)

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Forced excitation videos

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Forced excitation videos

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Damped equations of motion

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Damping matrix

Damped equations of motion : general solution

Non trivial solution if

•Complex roots of the characteristic equation

-> Oscillatory functions with exponential envelope

•Complex eigen vectors = complex modeshapes

-> Not often used in practice in vibrations

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Equations of motion : modal basis solution – real mode shapes

Mode shapes of conservative system :

Projection on the real modal basis:

or

In general is not diagonal and the equations remain coupled but …

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Equations of motion : modal basis solution – real mode shapes

•Rayleigh damping:

Often used as a simplifying assumption to decouple the equations but does

not have a physical meaning
•Modal damping

When damping is small, off-diagonal terms can be neglected leading to:

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is the modal damping of mode i

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Equations of motion : modal basis solution – real mode shapes

n independent equations of the type

This equation corresponds to the equation of motion of a sdof system with

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Link between Rayleigh damping and modal damping

Rayleigh damping Modal damping

•Only two parameters to define the damping of all modes

->Overestimation at low and high frequencies
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->Represents accurately the damping of two modes only

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Particular solution : harmonic excitation

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Harmonic excitation: modal basis solution

Projection on modal basis

Modal damping hypothesis (small damping)

n decoupled
equations

Sum of damped sdof oscillators

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Example : two dofs system

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Example : two dofs system

Damped resonances

k=1 N/m, m=1kg,

b=0.04 Ns/m

Never goes to zero

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Validity of modal damping hypothesis

Neglect off-diagonal terms

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Validity of modal damping hypothesis

k=1 N/m, m=1kg,

b=0.04 Ns/m

Comparison of exact (coupled-dotted line) and approached (uncoupled) responses

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Validity of modal damping hypothesis

k=1 N/m, m=1kg,

b=0.2 Ns/m

The modal damping hypothesis is not valid for high values of damping

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Base excitation of mdof systems

Equations of motion:

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Base excitation of mdof systems

Matrix notations:

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Base excitation of mdof systems : Projection in the modal basis

Modal decomposition using mode shapes with fixed base ( )

Modal acceleration factor

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Example : 5 dofs building model excited by earthquake

Ground motion (acceleration)

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Example : 5 dofs building : projection in the modal basis

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5 dofs building : mode shapes and eigenfrequencies

Mode 1 (5.41 Hz) Mode 2 (15.8 Hz) Mode 3 (24.9 Hz) Mode 4 (32.0 Hz) Mode 5 (36.5 Hz)

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5 dofs building : FRF for base acceleration

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Time domain response of mdof systems with base excitation

Impulse response

Convolution

Expansion

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Effect of a mass change

A global mass change keeps mode shapes unchanged, but affects frequencies,
modal masses, and modal accelerations

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Effect of a mass change

Freq spectrum of ground Ground acceleration

acceleration

5.4 Hz

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Effect of a mass change

Freq spectrum of ground Ground acceleration

acceleration

5.4 Hz

14.3 Hz

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High vs low tuning

Low tuning High tuning

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Adding damping

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